Systems and methods for determining ranges to a target disposed behind a transparent surface are described. A target acquisition system receives a plurality of lidar returns, at least some of which are from a target and at least some of which are from a transparent surface. The lidar returns correspond to a portion of a lidar signal generated by a lidar, directed toward the target, and reflected back to the lidar from either the target or the transparent surface. A range measurement for each of the plurality of lidar returns is determined. The target acquisition system generates a histogram of the range measurements. The histogram includes an array including a plurality of range bins. Each range bin defines a unique portion of a predetermined distance out from the lidar. The histogram further includes a count associated with each respective range bin. The count corresponds to a number of range measurements falling within the unique portion of the predetermined distance corresponding to that respective range bin. In some implementations of the invention, the target acquisition system determines which of the range measurements correspond to the target based on the histogram. In some implementations of the invention, the target acquisition system determines which of the range measurements correspond to the transparent surface based on the histogram.
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1. A method for determining ranges to a target disposed behind a transparent surface, the method comprising: receiving a plurality of lidar returns, at least some of which are from a target and at least some of which are from a transparent surface, the lidar returns corresponding to a portion of a lidar signal generated by a lidar, directed toward the target, and reflected back to the lidar from either the target or the transparent surface; determining a range measurement for each of the plurality of lidar returns; generating a histogram of the range measurements, the histogram comprising an array including a plurality of range bins, each range bin defining a unique portion of a predetermined distance from the lidar, the histogram further comprising a count associated with each respective range bin, the count corresponding to a number of range measurements falling within the unique portion of the predetermined distance corresponding to that respective range bin; and determining which of the range measurements correspond to the target based on the histogram.
A method determines the distance to a target behind a transparent surface using LiDAR. The method involves: receiving LiDAR returns, some from the target and some from the transparent surface; determining the range for each return; creating a histogram of these ranges, where each bin represents a distance interval and the bin count indicates how many range measurements fall within that interval; and identifying which range measurements correspond to the target based on this histogram.
2. The method of claim 1 , further comprising: determining which of the range measurements correspond to the transparent surface based on the histogram.
The method for determining ranges to a target disposed behind a transparent surface, which involves receiving LiDAR returns, determining the range for each return, generating a histogram of these ranges, and identifying target ranges based on the histogram, also includes determining which range measurements correspond to the transparent surface based on the same histogram.
3. The method of claim 1 , wherein determining which of the range measurements correspond to the target based on the histogram comprises: arranging the plurality of range bins of the histogram into one or more clusters of adjacent range bins, each range bin having its associated count greater than a predetermined threshold.
In the method for determining ranges to a target behind a transparent surface, which involves receiving LiDAR returns, determining the range for each return, generating a histogram of these ranges, and identifying target ranges based on the histogram, the step of identifying target ranges based on the histogram involves grouping adjacent histogram bins into one or more clusters, where each bin in a cluster has a count exceeding a predetermined threshold. This effectively identifies regions of interest representing potential target or transparent surface locations.
4. The method of claim 3 , wherein determining which of the range measurements correspond to the target based on the histogram comprises: arranging the plurality of range bins of the histogram into two or more clusters of adjacent range bins, and wherein determining which of the range measurements correspond to the target based on the histogram comprises determining that the range measurements associated with a second nearest one of the two or more clusters correspond to the target.
In the method for determining ranges to a target behind a transparent surface, where LiDAR returns are received, ranges are determined, a histogram is generated, and target ranges are identified, and where histogram bins are clustered based on counts exceeding a threshold, the cluster arrangement involves creating two or more such clusters. The method then determines that the range measurements associated with the *second closest* of these clusters correspond to the target, implying the nearest cluster represents the transparent surface.
5. The method of claim 4 , further comprising determining that the range measurements associated with a nearest one of the two or more clusters correspond to the transparent surface.
The method for determining ranges to a target behind a transparent surface, which involves receiving LiDAR returns, determining the range for each return, generating a histogram of these ranges, identifying target ranges based on histogram clusters (where the second nearest cluster represents the target), further includes determining that the range measurements associated with the *closest* cluster to the LiDAR correspond to the transparent surface. This confirms the distinction between the transparent surface and the target based on proximity.
6. The method of claim 1 , wherein receiving a plurality of lidar returns comprises: receiving a plurality of lidar returns from the lidar when one or more lidar beams are directed toward a first spot; causing the one or more lidar beams of the lidar to be directed toward a second spot; and receiving a plurality of lidar returns from the lidar when one or more lidar beams are directed toward the second spot.
In the method for determining ranges to a target behind a transparent surface, which involves receiving LiDAR returns, determining the range for each return, generating a histogram of these ranges, and identifying target ranges based on the histogram, receiving LiDAR returns involves: first, collecting returns when the LiDAR beam is aimed at a first spot; then, steering the beam to a second spot; and collecting returns from that second spot. This allows for multiple perspectives and potentially clearer separation of target and transparent surface reflections.
7. A system for determining ranges to a target disposed behind a transparent surface comprising: a lidar configured to direct a lidar signal toward a target and to receive a plurality of lidar returns, the plurality of lidar returns corresponding to a portion of the lidar signal reflected back to the lidar from either the target or a transparent surface, wherein at least some of the plurality of lidar returns are from the target and at least some of the plurality of lidar returns are from the transparent surface; and a processor configured to: determine a range measurement for each of the plurality of lidar returns; generate a histogram of the range measurements, the histogram comprising an array including a plurality of range bins, each range bin defining a unique portion of a predetermined distance outward from the lidar, the histogram further comprising a count associated with each respective range bin, the count corresponding to a number of range measurements falling within the unique portion of the predetermined distance corresponding to that respective range bin; determining which of the range measurements correspond to the target based on the histogram.
A system determines the distance to a target behind a transparent surface using LiDAR. The system includes: a LiDAR sensor that emits a signal and receives returns from both the target and the transparent surface; and a processor. The processor calculates the range for each LiDAR return, creates a histogram of these ranges (where each bin represents a distance and the bin count is the number of returns in that distance), and then determines which of the range measurements correspond to the target based on the histogram.
8. The system of claim 7 , wherein the processor is further configured to: determine which of the range measurements correspond to the transparent surface based on the histogram.
The system for determining ranges to a target behind a transparent surface using LiDAR, including a LiDAR sensor and a processor which calculates ranges, generates a histogram, and identifies target ranges, further includes the processor being configured to determine which of the range measurements correspond to the transparent surface based on the histogram.
9. The system of claim 7 , wherein the processor configured to determine which of the range measurements correspond to the target based on the histogram comprises the processor configured to arrange the plurality of range bins of the histogram into one or more clusters of adjacent range bins, each range bin having its associated count greater than a predetermined threshold.
In the system for determining ranges to a target behind a transparent surface using LiDAR, including a LiDAR sensor and a processor which calculates ranges, generates a histogram, and identifies target ranges, the processor identifies target ranges by grouping adjacent histogram bins into one or more clusters. Each bin within a cluster has a count exceeding a threshold, allowing the system to isolate regions likely corresponding to the target or transparent surface.
10. The system of claim 9 , wherein the processor configured to determine which of the range measurements correspond to the target based on the histogram comprises the processor configured to arrange the plurality of range bins of the histogram into two or more clusters of adjacent range bins, and wherein the processor configured to determine which of the range measurements correspond to the target based on the histogram comprises the processor configured to determine that the range measurements associated with a second nearest one of the two or more clusters correspond to the target.
In the system for determining ranges to a target behind a transparent surface, where a processor uses LiDAR returns to create a range histogram and clusters bins with counts above a threshold, and the processor arranges histogram bins into two or more clusters of adjacent range bins, the processor determines the range measurements for the target by determining that the range measurements associated with the *second closest* cluster correspond to the target.
11. The system of claim 10 , wherein the processor is further configured to determine that the range measurements associated with a nearest one of the two or more clusters correspond to the transparent surface.
The system for determining ranges to a target behind a transparent surface, using LiDAR returns, a range histogram, bin clustering (where the second nearest cluster represents the target), the processor is further configured to determine that the range measurements associated with the *closest* cluster correspond to the transparent surface.
12. The system of claim 7 , wherein the processor configured to receive a plurality of lidar returns comprises the processor configured to: receive a plurality of lidar returns from the lidar when one or more lidar beams are directed toward a first spot; cause the one or more lidar beams of the lidar to be directed toward a second spot; and receive a plurality of lidar returns from the lidar when one or more lidar beams are directed toward the second spot.
In the system for determining ranges to a target behind a transparent surface, including a LiDAR sensor and a processor which calculates ranges, generates a histogram, and identifies target ranges, the processor receives LiDAR returns by: first, receiving returns when the LiDAR beam is aimed at a first spot; then, steering the beam to a second spot; and receiving returns from that second spot.
13. A method for determining ranges to a target disposed behind a transparent surface, the method comprising: receiving a plurality of lidar returns, at least some of which are from a target and at least some of which are from a transparent surface, the lidar returns corresponding to a portion of a lidar signal generated by a lidar, directed toward the target, and reflected back to the lidar from either the target or the transparent surface; determining a range measurement for each of the plurality of lidar returns; generating a histogram of the range measurements, the histogram comprising an array including a plurality of range bins, each range bin defining a unique portion of a predetermined distance from the lidar, the histogram further comprising a count associated with each respective range bin, the count corresponding to a number of range measurements falling within the unique portion of the predetermined distance corresponding to that respective range bin; generating at least two clusters of adjacent range bins in the histogram for which the associated count exceeds a threshold; determining that a nearest of the at least two clusters corresponds to the transparent surface; and determining that a second nearest of the at least two clusters corresponds to the target.
A method determines the distance to a target behind a transparent surface using LiDAR. The method includes: receiving LiDAR returns, some from the target, some from the transparent surface; determining the range for each return; creating a range histogram; generating at least two clusters of adjacent range bins in the histogram where counts exceed a threshold; determining that the *closest* cluster represents the transparent surface; and determining that the *second closest* cluster represents the target.
14. The method of claim 13 , further comprising filtering out those range measures that do not correspond to the target.
The method for determining ranges to a target behind a transparent surface, including receiving LiDAR returns, creating a range histogram with clustered bins to identify transparent surface and target ranges, further includes filtering out range measures that do *not* correspond to the target. This focuses the output on the target's position only.
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June 5, 2015
November 28, 2017
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